5.1.0

• Bugfix: logic error in VehicleTransmissionSettings.setClutchReleaseTime()

• Bugfix: unsatisfied link in RackAndPinionConstraintSettings

• Added set() copying methods to 83 classes.

• Added 5 read-only interfaces:

  • ConstMotorcycleControllerSettings
  • ConstTrackedVehicleControllerSettings
  • ConstVehicleDifferentialSettings
  • ConstVehicleTrackSettings
  • ConstWheeledVehicleControllerSettings

• Added getters and setters for 6 attributes of the MotorcycleControllerSettings class.

• Added accessors for 3 attributes of the VehicleCollisionTester class.

• Added isEqual() methods to 5 classes.

• Added 3 public setters to the VehicleTrackSettings class.

• Added copy constructors for the CollisionGroup and IndexedTriangleNoMaterial classes.

• Added accessors for the mLeftRightSplit attribute of VehicleDifferentialSettings objects.

• Added getters for the engine and transmission of TrackedVehicleControllerSettings objects.

• Added accessors for the slip ratio of a WheeledVehicleControllerSettings.

• Added the getRotationAngle() method to the QuatArg interface.

• Added constant values cBroadPhaseLayerInvalid and cObjectLayerInvalid to the Jolt class.

• Overrode various equals(), hashCode(), and toString() methods.

• Updated the Jolt-Physics source and assets to sg260518 (=153fd6f).

• Began building with Vulkan SDK v1.4.350 and Xcode v26.5.0 .

• Updated the OSHI library to v7.2.1 .

5.0.0

• API changes:

  • Deleted 2 deprecated public methods:
    • BodyCreationSettings.getNumPositionStepsOverride()
    • BodyCreationSettings.getNumVelocityStepsOverride()
  • Renamed 2 interfaces and 2 classes:
    • ConstContact -> ConstCharacterContact
    • ConstContactKey -> ConstCharacterContactKey
    • Contact -> CharacterContact
    • ContactKey -> CharacterContactKey
  • Various CharacterContactListener callbacks now receive a complete CharacterContact or CharacterContactSettings in place of fine-grained parameters.

• Added a utility class NativeLibraryLoader (PR #47)

• Added copy constructors to 6 soft-body classes:

  • Edge
  • Face
  • SoftBodyVertex
  • Vertex
  • VertexAttributes
  • Volume

• Added new methods:

  • CharacterBase.setSupportingVolume()
  • CharacterRef.setSupportingVolume()
  • CharacterVirtualRef.setSupportingVolume()
  • ConstCharacterBase.getSupportingVolume()
  • ConstCharacterContact.getIsBackFacingContact()
  • ConstSoftBodyVertex.getPreviousPosition()
  • SoftBodyVertex.setHasContact()
  • SoftBodyVertex.setPreviousPosition()

• Overrode 4 existing public methods:

  • Face.toString()
  • Plane.equals()
  • Plane.hashCode()
  • Vertex.toString()

• Began building Windows native libraries using Visual Studio 2026 (instead of Visual Studio 2022).

• Began building Linux_ARM64 native libraries using GCC v11.4 (instead of v10).

• Began compiling Linux and Windows native libraries with v1.4.350.0 Vulkan header files (instead of v1.4.341.1).

• Recompiled the compute shaders using Vulkan SDK v1.4.350.0 (instead of v1.4.341.1).

• Updated the Jolt-Physics source and assets to sg260506 (=cd591a9).

4.3.0

• Bugfixes:

  • unsatisfied link during BodyIdVector.createCopy()
  • unsatisfied link during Character.getCharacterSettings()
  • assertion failure during Contact.getCharacterB()
  • Mat44.setElement() and RMat44.setElement() are ineffective (PR #46)

• Added classes and interfaces:

  • ConstJointState
  • ConstSkeletonPose
  • ConstVehicleTransmissionSettings
  • ContactSet

• Added methods:

  • Body.applyBodyCreationSettings()
  • Body.applySoftBodyCreationSettings()
  • ConstBodyCreationSettings.isEqual()
  • ConstCollisionGroup.isEqual()
  • ConstMathProperties.isEqual()
  • ContactKey.toString()
  • CustomLoader.newLoader()
  • JointState.set()
  • JphMath.sqrt()
  • Ragdoll.driveToPoseUsingMotors()
  • Ragdoll.getConstraint()
  • RagdollRef.driveToPoseUsingMotors()
  • RagdollRef.getConstraint()
  • RagdollSettings.getConstraintIndexForBodyIndex()
  • RagdollSettingsRef.getConstraintIndexForBodyIndex()
  • StateRecorder.read(ContactSet)
  • StateRecorder.write(ContactSet)
  • Vec3Arg.copyTo() [2 additional signatures]
  • VehicleEngineSettings.restoreBinaryState()
  • VehicleEngineSettings.saveBinaryState()
  • VehicleTransmissionSettings.restoreBinaryState()
  • VehicleTransmissionSettings.saveBinaryState()

• Publicized a PhysicsMaterial constructor.

• Updated the Jolt-Physics source and assets to sg260504 (=4b2f349).

• Updated the OSHI library to v7.1.0 .

4.2.0

• Added methods:

  • ConstWheelSettingsWv.getAngularDamping()
  • ConstWheelSettingsWv.getInertia()
  • WheelSettingsWv.setAngularDamping()
  • WheelSettingsWv.setInertia()
  • WheelSettingsWvRef.setAngularDamping()
  • WheelSettingsWvRef.setInertia()

• Began including Metal compute servers in macOS natives.

• Began building macOS natives using Xcode v26.4.1 .

• Updated the Jolt-Physics source and assets to sg260430 (=04587a3).

• Updated the OSHI library to v7.0.0 .

4.1.0

• Bugfix: injudicious uses of int in glue code

• Added class ContactKey and interface ConstContactKey.

• Added methods:

  • ConstFloat3.copyTo()
  • ConstHairSettings.putEdgeIndices()
  • ConvexHullShapeSettings.transformPoints()
  • Hair.putRenderPositionsWorld()
  • Mat44Arg.multiply3x4(ConstFloat3)
  • Op.star(Mat44, ConstFloat3)
  • SVertex(Vec3Arg, float)
  • Vec3.swizzleInPlace()

• Added constant Jolt.cInvalidCharacterId.

• Permitted passing arrays with null elements to 5 StreamInWrapper methods.

• Updated the Jolt-Physics source and assets to sg260420 (=dd4df01).

• Updated the OSHI library to v6.11.1 .

4.0.1

Bugfix: storeRef not updated after getShapeUpdate(ShapeRefC) calls

4.0.0

• API changes:

  • Moved 32 public utility methods out of the Jolt class. The JPH_PI numeric constant and 11 math functions were moved to the new JphMath class. Meanwhile, 21 seldom-used utility methods were moved to the new MiscUtil class.
  • Altered the counted-reference classes (those derived from Ref). Each reference now caches its target object, and all getPtr() methods now return either a pre-existing object or null. The motivation was to avoid creating duplicate JVM objects that refer to the same native object, which can lead to non-intuitive behavior. This change especially impacts applications that invoke close() on physics objects.
  • Altered ShapeRefCArray.get() to return a copy of the array element instead of an alias.
  • Altered the semantics of VehicleConstraint.getController() and VehicleConstraintRef.getController() to return a pre-existing object. Again, the motivation was to avoid creating duplicate JVM objects that refer to the same native object
  • Altered the BcsResult and SbcsResult classes to more closely match the underlying native types (BCSResult and SBCSResult). This change affected the return types of both get() methods.
  • Converted 3 concrete classes to abstract ones: CharacterBaseSettings, ContactListener, and SoftBodyContactListener.
  • Renamed the StreamInWrapper.readBytes() method to readFloat3Array().
  • Corrected the return type of the ComputeQueue.toRef() method.

• Bugfixes:

  • missing support for empty counted references in many places
  • unsatisfied link CharacterVirtualRefC.copy()
  • memory leak in ObjectStreamIn

• Added classes and interfaces:

  • ConstLinearCurve
  • ConstVehicleEngineSettings
  • LinearCurve
  • SimpleTireMaxImpulseCallback

• Added methods:

  • ConstCharacterBase.getPhysicsSystem()
  • ConstWheelSettingsWv.getLateralFriction()
  • ConstWheelSettingsWv.getLongitudinalFriction()
  • TireMaxImpulseCallback.calculate()
  • WheelSettingsWv.setLateralFriction()
  • WheelSettingsWv.setLongitudinalFriction()
  • WheelSettingsWvRef.setLateralFriction()
  • WheelSettingsWvRef.setLongitudinalFriction()
  • VehicleEngineSettings.getNormalizedTorque()
  • VehicleEngineSettings.setNormalizedTorque()

• Added chaining to 21 public methods.

3.10.0

• Added the ConstExtendedUpdateSettings interface.
• Add the abstract TireMaxImpulseCallback class and Tmic helper class.
• Added the CustomTireMaxImpulseCallback class.
• Add the setTireMaxImpulseCallback() method to the WheeledVehicleController class. (issue #42)
• Added chaining to 10 public methods in CompoundShapeSettings and ExtendedUpdateSettings.
• Updated the Jolt-Physics source and assets to sg260326 (=3548a30).

3.9.0

• Bugfix: use-after-free in BodyLockMultiRead and BodyLockMultiWrite (issue #41)

• Added interface ConstBodyIdArray.

• Added constructors:

  • BodyLockMultiRead(ConstBodyLockInterface, ConstBodyIdArray)
  • BodyLockMultiWrite(ConstBodyLockInterface, ConstBodyIdArray)

• Added methods:

  • BodyInterface.activateBodies()
  • BodyInterface.deactivateBodies()
  • BodyLockMultiBase.getBodyIdArray()

3.8.0

• Bugfixes:

  • Android crashes due to detaching threads with non-empty Java stacks
  • no implementation for TransformedAaBox.free()

• Added Vulkan compute for Android platforms.

• Added method Jolt.installAndroidTraceCallback()

• Bumped the Android targetSdk and compileSdk levels to 35 and 36, respectively.

• Improved many runtime checks.

• Updated the OSHI library to v6.10.0 .